#!/usr/bin/env python
# Author: Zion Orent <zorent@ics.com>
# Copyright (c) 2015 Intel Corporation.
#
# Permission is hereby granted, free of charge, to any person obtaining
# a copy of this software and associated documentation files (the
# "Software"), to deal in the Software without restriction, including
# without limitation the rights to use, copy, modify, merge, publish,
# distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so, subject to
# the following conditions:
#
# The above copyright notice and this permission notice shall be
# included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

from __future__ import print_function
import time, sys, signal, atexit
from upm import pyupm_enc03r as upmEnc03r

def main():
    # Instantiate an ENC03R on analog pin A0
    myAnalogGyro = upmEnc03r.ENC03R(0)

    ## Exit handlers ##
    # This function stops python from printing a stacktrace when you hit control-C
    def SIGINTHandler(signum, frame):
        raise SystemExit

    # This function lets you run code on exit,
    # including functions from myAnalogGyro
    def exitHandler():
        print("Exiting")
        sys.exit(0)

    # Register exit handlers
    atexit.register(exitHandler)
    signal.signal(signal.SIGINT, SIGINTHandler)

    CALIBRATION_SAMPLES = 1000

    print ("Please place the sensor in a stable location,\n"
    "and do not move it while calibration takes place.\n"
    "This may take a couple of minutes.")

    myAnalogGyro.calibrate(CALIBRATION_SAMPLES)
    print("Calibration complete. ")
    print("Reference value: ", myAnalogGyro.calibrationValue())

    while(1):
        myAnalogGyro.update();
        outputStr = ("Angular velocity: {0}"
        " deg/s".format(myAnalogGyro.angularVelocity()))
        print(outputStr)

        time.sleep(.1)

if __name__ == '__main__':
    main()
